if (WRITE_REG(NSPREG_MOTPWML) || WRITE_REG(NSPREG_MOTPWMR) || WRITE_REG(NSPREG_MOTPIDL) || WRITE_REG(NSPREG_MOTPIDR) || WRITE_REG(NSPREG_MOTMODE) ) {
    int16_t templ,tempr; // negative Motor PID  
    templ = nsp_registers[NSPREG_MOTPIDL] * (-1);
	tempr = nsp_registers[NSPREG_MOTPIDR] * (-1);
    switch (nsp_registers[NSPREG_MOTMODE]) {
      case 0: copro_stopImmediate(); break;
      case 1: copro_stop(); break;
      case 2: copro_setPWM (nsp_registers[NSPREG_MOTPWML], nsp_registers[NSPREG_MOTPWMR]);
      case 3: copro_setSpeed (nsp_registers[NSPREG_MOTPIDL], nsp_registers[NSPREG_MOTPIDR]); // +PID L, +PID R
	  case 4: copro_setSpeed (templ, nsp_registers[NSPREG_MOTPIDR]);                         // -PID L, +PID R
	  case 5: copro_setSpeed (nsp_registers[NSPREG_MOTPIDL], tempr);                         // +PID L, -PID R
	  case 6: copro_setSpeed (templ, tempr);                                                 // -PID l, -PID R
    }
  }